JPS6117638B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention is particularly suitable for use in tunnel excavation equipment, etc., and is resistant to adverse environments and can automatically operate the slave arm without the need for a human to operate the master arm. The present invention relates to a self-driving master-slave device.

A conventional master-slave device, for example, transmits an electric signal based on the rotational displacement of the master arm and an electric signal based on the rotational position of the slave arm to an electro-hydraulic servo valve, and uses the servo valve to control a hydraulic actuator that drives the slave arm. By doing so, the slave arm is made to follow the master arm.

By the way, as is well known, the electro-hydraulic servo valve has the drawback of low reliability and malfunction in adverse conditions such as when excavating a tunnel. In other words, if the hydraulic oil in the servo valve becomes contaminated, dirt in the oil will clog the tiny opening of the flap nozzle or the tiny clearance around the spool, causing malfunction, and if the ambient temperature changes rapidly, There are disadvantages in that the magnetic properties of the coil change, causing malfunction, and when the temperature of the hydraulic oil rises, the viscosity changes and the thermal expansion of the spool causes malfunction. Furthermore, the servo valve has the disadvantage that it is expensive because it is manufactured with high precision. For this reason, the master-slave device using the electro-hydraulic servo valve has the essential drawbacks of being unreliable in adverse environments as described above and being expensive.

Further, in the conventional master/slave device described above, a human moves the tip of the master arm and causes the slave arm to follow the master arm. For example, as shown in Figure 1,
In the case of rough spraying, in which a tunnel is excavated and concrete is sprayed onto the uneven tunnel wall surface 1' immediately after blasting, the concrete spray nozzle 5' at the tip of the slave arm 4' of the slave device 3' is sprayed against the wall surface 1'. The operator 7' holds and maneuvers the master arm 9' of the master device 8' so that the master device 8' moves at a constant distance and in an orthogonal posture. Furthermore, as shown in FIG. 2, in the finishing spraying stage after the rough spraying, the operator operates the master arm 9' to operate the slave arm 4', as in the rough spraying.

By the way, in the finishing spraying stage as described above, since the wall surface 1' is relatively flat and has a certain semicylindrical shape, the master arm 9' does not necessarily need to be operated by a human being. It is possible to move the Nevertheless, with conventional master-slave devices, the worker has to operate the master arm 9', which is insufficient for labor saving and rationalization, and it is especially difficult for human beings to work in tunnel excavation work, which is a harsh environment. The problem was that it was not possible to release any of the

An object of the present invention is to solve the above-mentioned drawbacks and problems, and is resistant to negative effects, is inexpensive, and can operate the slave arm automatically without inputting the master arm, thereby saving labor. The object of the present invention is to provide a new self-driving master/slave device that can achieve rationalization.

For this reason, the present invention provides a three-position switching valve, a first and second relief valve, and a first and second relief valve, each of which is resistant to adverse environments and inexpensive, in place of the conventional electro-hydraulic servo valve.
It is characterized by the use of a combination of a diaphragm and an aperture, and by the provision of an automatic device for drawing a fixed trajectory in a fixed order at the tip of the master arm. More specifically, the present invention provides a master-slave device in which a master arm follows a slave arm using a fluid actuator, and a direct-acting poppet type poppet in which the set pressure changes according to the displacement of the master arm. A first type relief valve is connected to a pressure source via a first throttle, and a second direct-acting poppet type relief valve whose set pressure changes in accordance with displacement of the slave arm is connected via a second throttle. The fluid actuator is connected to a pressure source via a three-position switching valve having pilot chambers at both ends, and the pilot chamber at one end of the three-position switching valve is connected to the first relief valve. A pilot chamber at the other end of the three-position switching valve is connected between the second relief valve and the second throttle, and the pilot chamber is connected between the first relief valve and the second relief valve. The downstream side of the is connected to the tank, and the above three-position switching valve is controlled.
The master arm is made to follow the slave arm, and furthermore, an automatic device is provided to make the tip of the master arm draw a certain trajectory in a certain order, and the master arm is operated without manual power. The slave arm can be operated automatically.

Hereinafter, the present invention will be explained in detail with reference to illustrated embodiments.

In Figure 3, 1 is the master boom, one end of which is 1.
a is rotatably connected to the shaft 2. One end 3a of a master arm 3 is rotatably attached to the other end 1b of the master boom 1 via a shaft 4. A cam 5 is formed at one end 3a of the master arm 3, and a first relief valve 6 that interlocks the cam 5 is fixed to the other end 1b of the master boom 1. The primary port 7 of the first relief valve 6 is connected to the low pressure side port 11 of the pressure source 10 via a line 9 and a line 21 with a first throttle 8 installed in the middle, while the downstream port 12 of the secondary port 12 is connected to the low pressure side port 11 of the pressure source 10 Line 13 on the side
It is connected to tank 14 via.

The first relief valve 6 is a direct-acting poppet type relief valve, and as shown in FIG.
A poppet valve 18 is accommodated in a valve chamber 17 formed in the valve chamber 6 so as to be movable in the axial direction.
8 is urged toward the valve seat 20 by a coil spring 19 compressed in the valve chamber 17, thereby closing a gap between the primary port 7 and the secondary port 12. The main body 16 also includes a roller lever 22 that abuts one end of the coil spring 19.
The roller lever 2 is slidably fitted into the roller lever 2.
A roller 23 supported at the tip of the roller 2 is brought into contact with the cam 5.

The first relief valve 6 is configured such that the poppet valve 18 is activated based on the difference between the pressing force of the coil spring 19 and the pressing force due to the fluid pressure acting on the primary port 7.
The fluid pressure in the primary port 7 is controlled to a value corresponding to the pressing force of the coil spring 19 by opening and closing between the primary port 7 and the secondary port 12. Therefore, this first
Since the relief valve 6 opens and closes the oil passage by the operation of the poppet valve 18, there is no overlapping part unlike a spool type valve, and the wall surface in the valve chamber 17 of the poppet valve 18 and the main body 16 does not exist. No sliding friction occurs. Therefore, this first relief valve 6 has almost no hysteresis, can be controlled with high precision, and can cause the slave arm 33 to follow the master arm 3 with high precision. When master arm 3 is operated clockwise,
Due to the displacement of the cam 5, the roller 23 and the roller lever 2
When the coil spring 19 is compressed through the coil spring 19, the poppet valve 18 throttles the space between the primary port 7 and the secondary port 12, and the fluid pressure in the primary port 7 is reduced to the pressing force of the coil spring 19 (master arm 3
The fluid pressure is controlled according to the amount of operation (operated amount). That is, the first throttle 8 of the line 9 and the first relief valve 6
The fluid pressure between the next port 7 and the next port 7 is determined according to the amount of operation of the master arm 3.

On the other hand, as shown in FIG.
One end 31a is rotatably connected to the shaft 32. The shaft 3 is attached to the other end 81b of the slave boom 31.
4, one end 33a of the slave arm 33 is attached. One end 33 of the slave arm 33
A cam 35 having substantially the same shape as the cam 5 is formed at the other end 31 of the slave boom 31.
b is a second relief valve 3 interlocked with the cam 35;
6 is fixed. The second relief valve 36 is a direct acting poppet type relief valve having the same structure as the first relief valve 6. The primary port 37 of the second relief valve 36 has a second throttle 3 in the middle.
8 is connected to the low pressure side port 11 of the same pressure source 10 as the pressure source on the upstream side of the first throttle 8, while the downstream side of the secondary port 27 is connected to the tank via line 13. Connected to 14. Therefore, the second relief valve 36 throttles between the primary port 37 and the secondary port 27 in response to the operation of the slave arm 33, and the second relief valve 36 in the line 39
8 and the primary port 37 of the second relief valve 36 is controlled to a value corresponding to the amount of operation of the slave arm 33.

A hydraulic cylinder 40 having a pressure chamber 40a with a rod side port 47a open, a pressure chamber 40b with a head side port 47b open, and a piston rod 41 is fixed to the other end 31b of the slave arm 31. Connect the tip of the piston rod 41 to one end 33 of the slave arm 33.
It is rotatably connected to the protruding portion 42 of a through a pin 43.

On the other hand, the three-position switching valve 45 is of a closed sensor type and has pilot chambers 55, 57 at both ends. The load port A of the three-position switching valve 45 is connected to the rod side port 47a of the hydraulic cylinder 40 via a line 46.
The load port B is connected to the head side port 47b of the hydraulic cylinder 40 via line 48, the pump port P is connected to the high pressure side port 50 of the hydraulic power source 10 via line 49, and the tank port T is connected to the tank via line 51. Connected to 14.

Further, the pilot chamber 55 at one end of the three-position switching valve 45 is connected between the first relief valve 6 and the first throttle 8 of the line 9 via a pilot line 56, and the other end of the three-position switching valve 45 is The pilot chamber 57 at the end is connected to the line 3 via a pilot line 58.
It is connected between the second relief valve 36 of No. 9 and the second throttle 38. Therefore, when the fluid pressure in the pilot chamber 55 becomes higher than the fluid pressure in the pilot chamber 57, the three-position switching valve 45 switches the pressure chamber 40b of the hydraulic cylinder 40 to the high pressure side port 50, and switches the pressure chamber 40b to the high pressure side port 50.
a to the right symbol position connecting to the tank 14, and conversely, when the fluid pressure in the pilot chamber 57 rises above the fluid pressure in the pilot chamber 55,
The pressure chamber 40b of the hydraulic cylinder 40 is operated to the left symbol position where the pressure chamber 40b is connected to the tank 14 and the pressure chamber 40a is connected to the high pressure side port 50. hydraulic cylinder 40
When the pressure chambers 40a and 40b are respectively connected to the tank 14 and the high pressure side port 50, the piston rod 41 moves upward, rotating the slave arm 33 clockwise, and conversely, the pressure chambers 40a and 40b are connected to the high pressure side port 50, respectively. When the side port 50 is connected to the tank 14, the piston rod 41 is lowered and the slave arm 33 is rotated counterclockwise.

The pressure source 10 includes a high pressure pump 61 and a low pressure pump 62 that are directly connected to a motor 60. A discharge port of the high pressure pump 61 is connected to the high pressure side port 50 via a line 63, and a discharge port of the low pressure pump 62 is connected to the low pressure side port 11 via a line 64. Relief valves 65 and 66 are connected to the lines 63 and 64, respectively, to set the pressure. Note that 67 and 68 are pressure gauges, and 69 is a filter.

On the other hand, in FIG. 3, 80 is the master arm 3
This is a small robot with sequence control as an automatic device to drive the tip MA of the machine in a fixed order. A groove 82 is provided in the base 81 of the small robot 80,
A horizontal rack 83 is fitted into the groove 82 so as to be movable in the horizontal direction. The horizontal rack 83 is driven by a pinion driven by a motor (not shown) to move forward and backward in the direction of arrow X in FIG. A column 84 is vertically fixed to the horizontal rack 83, and a vertical rack 86 is fitted into the groove 85 of the column 84 so as to be slidable in the vertical direction Y. The vertical rack 86 is driven to move forward and backward in the direction of arrow Y by a pinion driven by a motor (not shown). A horizontal bar 87 is fitted into the vertical rack 86 so as to be movable in the horizontal direction Z. The horizontal bar 87 is driven to move forward and backward in the direction of arrow Z by means not shown. The arrows X, Y, and Z form three axes that are orthogonal to each other. Note that the horizontal bar 87 passes through a slit 88 provided at the bottom of the groove 85, and can also move in the vertical direction together with the vertical rack 86.

On the other hand, the driving of the horizontal rack 83, vertical rack 86 and horizontal bar 87 is controlled by a sequence control device (not shown). Therefore, when a predetermined program is installed in the sequence control device, the horizontal rack 83 and the vertical rack 86
The horizontal bars 87 and 87 each automatically move a fixed distance at a fixed speed in a predetermined order, and the tip M _R of the horizontal arm 87 automatically draws a fixed trajectory at a fixed speed.

The above-mentioned sequence control device does not use electronics, but is constructed from strong electric parts such as limit switches, so that it does not malfunction even under adverse environments.

The tip M _R of the horizontal bar 87 is connected to the tip 91 of the master arm 3 via a universal joint 91.
are detachably connected.

The self-driving master/slave device configured as described above operates as follows.

First, the required speed of the tip S of the slave arm 33 is changed to a trajectory with a size of (master arm dimensions)/(slave arm dimensions) = 1/N of the required trajectory that the tip S of the slave arm 33 should move. The small robot 80 is moved so that the tip M _R of the horizontal arm 87 of the small robot 80 moves at a speed of N.
Configure the program for the sequence control device.

Next, when a start button (not shown) of the small robot 80 is pressed to start the small robot, the tip M _R of the horizontal bar 87 of the small robot 80 and the tip MA of the master arm 3 connected thereto are automatically moved to a predetermined position. The slave arm 33 automatically follows the master arm 3 as described below.

Therefore, even if a human does not operate the master arm 3, the master arm 3 can be driven by the small robot 80 and the slave arm 33 can be operated automatically, so that labor saving and rationalization can be achieved. In particular, this rationalization can free humans from working in harsh environments such as inside tunnels.

The slave arm 33 follows the master arm 3 as follows.

When the master arm 3 is rotated clockwise in FIG. 3 with respect to the master boom 1 by the small robot 80, the cam 5 of the master arm 3 presses the roller of the first relief valve 6, and as shown in FIG. Press the coil spring 19. As a result, the set pressure of the first relief valve 6 becomes higher. That is, the first relief valve 6 operates so that the spring force of the compressed coil spring 19 and the fluid pressure of the primary port 7 are balanced in FIG. The fluid pressure between the master arm 3 and the first throttle 8 is controlled to be higher than the state before the master arm 3 is rotated.

For this purpose, the three-position switching valve 45 is connected to a line 9 which is transmitted to its pilot chamber 55 via a line 56.
Due to the fluid pressure between the first relief valve 6 and the first throttle 8, the switch is switched to the symbol position on the right side in FIG. As a result, the pressure chamber 4 of the hydraulic cylinder 40
0b, the discharge pressure fluid from the high pressure pump 61 is connected to lines 63, 49, three-position switching valve 45, and line 4.
8 to the head side port 4 of the hydraulic cylinder 40.
7b and flows into the pressure chamber 40b. Pressure chamber 40
The fluid a flows out into the tank 14 via the line 46, the three-position switching valve 45, and the line 51, so the piston rod 41 of the hydraulic cylinder 40 moves upward. Then, the slave arm 33 rotates clockwise in FIG. 3 with respect to the slave boom 31 via the pin 43 and the protrusion 42.

At this time, since the cam 35 of the slave arm 33 presses the roller of the second relief valve 36, the slave arm 33 rotates and the fluid pressure between the second relief valve 36 and the second throttle 38, that is, the The set pressure of the two-position relief valve 36 becomes higher, and the fluid pressure is passed through the line 58 to the three-position switching valve 45.
The information is transmitted to the pilot room 57. Therefore,
The three-position switching valve 45 is located at the symbol position on the right side in FIG. 3 until the fluid pressure in the pilot chamber 55 and the fluid pressure in the pilot chamber 57 are balanced, so that the slave arm 33 follows the master arm 3, while the pilot When the fluid pressure in the chamber 55 and the fluid pressure in the pilot chamber 57 are balanced, the three-position switching valve 45 is located at the neutral position, stopping the hydraulic cylinder 40 and stopping the rotation of the slave arm 33.

If the slave arm 33 rotates more than the amount corresponding to the rotation amount of the master arm 3 due to inertia or the like, the coil spring of the second relief valve 36 is further compressed by the cam 35, and the second relief valve 36 is set. The pressure becomes even higher. the result,
When the fluid pressure in the pilot chamber 57 of the switching valve 45 becomes higher than the fluid pressure in the pilot chamber 55, the three-position switching valve 45 is switched to the symbol position on the left in FIG. 6
3, 49, and 46 to the pressure chamber 40a through the rod-side port 47a of the hydraulic cylinder 40, the rod 41 of the hydraulic cylinder 40 is moved downward, and the slave arm 33 is rotated counterclockwise. . Therefore, the first and second relief valves 6,
The three-position switching valve 45 controlled by 36 rotates the slave arm 33 by a predetermined amount in response to the amount of rotation of the master arm 3, thereby ensuring that the slave arm 33 follows the master arm 3.

When the following operation stops, the set pressures of the first and second relief valves 6 and 36 are the same, that is, the pilot chambers 55 and 57 at both ends of the three-position switching valve 45
The fluid pressures of are the same.

Even if pressure fluctuation occurs in the discharge pressure of the pressure source 62 during the following operation, the upstream sides of the first throttle 8 and the second throttle 38 are connected to the same pressure source 62, and the first relief valve 6 and the second relief valve The downstream side of the valve 36 is connected to the tank 14
Because the system is connected to the same pressure, the pressure of the entire system fluctuates to the same extent at the same time, providing stable and accurate follow-up operation at all times.

In addition, the first relief valve 6 and the second relief valve 36
Since it is a direct-acting poppet type relief valve, there is no overlapping part and no sliding part. Therefore, since the hysteresis (pressure relative to displacement) of the relief valves 6 and 36 can be made extremely small, the positions of the master arm 3 and slave arm 33 can be accurately converted into pressure, allowing accurate tracking. Can operate.

FIG. 6 shows a displacement curve A of the master arm 3, a displacement curve B of the slave arm 33, and curves showing each control pressure of the first and second relief valves 6 and 36 in response to a triangular input with a cycle of 0.6 Hz or 16.5 seconds. Curves C and D, curves E and F showing the pressure in the pilot chambers 55 and 57 of the switching valve 45, and curves G and H showing the pressure on the rod side and head side of the hydraulic cylinder 40 were measured with a synchroscope and vertically plotted. The results are shown with the axis representing displacement and pressure, and the horizontal axis representing time. As a result, it can be seen that the slave arm 33 can accurately follow the master arm 3 with almost no delay, that is, without any practical problems.

In addition, although the slave arm 33 was made to follow the master arm 3 by the said structure, the slave boom 31 can also be made to follow the master boom 1 also by the same structure.

In the modification shown in FIG. 5, the tips of the master arm 3 and slave arm 33 can only move two-dimensionally, whereas in the embodiment shown in FIG. 3
The main difference is that it allows for dimensional movement.

Therefore, in this modification, the master boom 1 is attached via the shaft 2 to a swivel base 95 that is rotated by a hydraulic motor (not shown), and the slave boom 31 is attached via the shaft 32 to a swivel base 96 that is rotated by a hydraulic motor (not shown). It is installed. The tip M _R of the horizontal bar 87 of the robot 80 is indicated by the arrows X, Y, and
It can move in three dimensions of Z.

Therefore, in this modification, the small robot 80
By moving the tip M _R of the horizontal bar 87 three-dimensionally, the tips of the master arm 3 and slave arm 33 can be automatically moved.

In the master-slave device of each of the above embodiments, the master arm 3 and the small robot 80 are detachably connected, so when performing difficult work such as rough spraying of concrete, the small robot and the master arm 3 can be connected together. It has the advantage that it can be separated and the master arm 3 can be manually operated in the same manner as before.

In each of the above embodiments, a small robot that is sequence-controlled is used as an automatic device that draws a certain trajectory on the tip of the master arm, but the robot is not limited to this. , a device may be used that reads this information and forces the master arm to draw a fixed trajectory.

As is clear from the above description, the self-driving master/slave device of the present invention replaces the conventional electro-hydraulic servo valve with a three-position switching valve that is resistant to adverse environments and is inexpensive, and a first and second relief valve. equipped with a valve;
The upstream sides of the first and second throttles interposed in the lines controlled by the first and second relief valves are connected to the same pressure source, and the downstream sides of the first and second relief valves are connected to the same pressure source. is connected to the tank, so even if pressure fluctuations occur in the discharge pressure of the pressure source, the entire system will fluctuate to the same extent at the same time, so stable operation can be obtained at all times, and it is resistant to adverse environments and is inexpensive. It has the advantage of

In addition, since the first relief valve and the second relief valve are direct-acting poppet type relief valves with a simple structure, there are no overlapping parts or sliding parts in the relief valve, and the hysteresis (pressure against displacement) of the relief valve is reduced. ) can be made to an extremely small value. Therefore, the positions of the master arm and slave arm can be accurately converted into pressure. Therefore, the followability of the slave arm to the master arm is improved.

Furthermore, since the self-driving master/slave device of the present invention is equipped with an automatic device for drawing a certain trajectory at the tip of the master arm, the automatic device can be automatically operated in place of a human being to The arm and slave arm can be operated automatically, achieving labor savings and streamlining. Therefore, the self-driving master/slave device of the present invention can be used not only for tunnel excavation work but also for various other works and devices. Slope forming, which is limited to a few types, can produce extremely great results if it is used for trenching work, etc.

Furthermore, the automatic driving device used in the present invention has a small-range, low-speed operation capability equivalent to a human's ability to operate a master arm, and is fully functional, and is therefore inexpensive, small, and compact. After all, the self-driving master/slave device of the present invention has the advantage that it can be manufactured inexpensively and compactly.

[Brief explanation of the drawing]

1 and 2 are explanatory diagrams of concrete spraying work using a conventional master/slave device, respectively. FIG. 3 is a schematic diagram of an automatically operated master/slave device according to an embodiment of the present invention. The figure is the first
FIG. 5 is a cross-sectional view of a relief valve, FIG. 5 is a front view of an automatically operated master/slave device according to another embodiment of the present invention, and FIG. 6 is a graph showing the performance of the master/slave device shown in FIG. be. 3... Master arm, 6... First relief valve,
8...First throttle, 10...Pressure source, 33...Slave arm, 36...Second relief valve, 38...
Second throttle, 40... Hydraulic cylinder, 45... Three position switching valve, 80... Automatic device.

Claims (1)

[Scope of Claims] 1. In a master-slave device in which a master arm follows a slave arm by a fluid actuator, a direct-acting poppet type first relief valve whose set pressure changes according to the displacement of the master arm is provided as a first relief valve. A second direct-acting poppet type relief valve whose set pressure changes according to the displacement of the slave arm is connected to the pressure source through the second throttle, and the second relief valve is connected to the pressure source through the second throttle. A fluid actuator is connected to the pressure source through a three-position switching valve with pilot chambers at both ends,
Furthermore, the pilot chamber at one end of the three-position switching valve is
connected between the first relief valve and the first throttle,
The pilot chamber at the other end of the three-position switching valve is connected between the second relief valve and the second throttle, and the downstream sides of the first relief valve and the second relief valve are connected to the tank. , further comprising an automatic device for controlling the three-position switching valve to cause the master arm to follow the slave arm, and for causing the tip of the master arm to draw a predetermined trajectory in a predetermined order; A self-driving master/slave device characterized in that the master arm can be operated without depending on input, and the slave arm can be automatically operated.